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[paparazzi-commits] [4733] Add target jsbsim to compile both simulator i
|
From: |
Gautier Hattenberger |
|
Subject: |
[paparazzi-commits] [4733] Add target jsbsim to compile both simulator independantly |
|
Date: |
Thu, 25 Mar 2010 09:27:27 +0000 |
Revision: 4733
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4733
Author: gautier
Date: 2010-03-25 09:27:26 +0000 (Thu, 25 Mar 2010)
Log Message:
-----------
Add target jsbsim to compile both simulator independantly
Modified Paths:
--------------
paparazzi3/trunk/Makefile.ac
paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/spocII.xml
paparazzi3/trunk/conf/autopilot/sitl_jsbsim.makefile
paparazzi3/trunk/conf/simulator/Corsica/Corsica.xml
paparazzi3/trunk/sw/simulator/launchsitl
paparazzi3/trunk/sw/simulator/sim_ac_jsbsim.c
Added Paths:
-----------
paparazzi3/trunk/conf/Makefile.jsbsim
Removed Paths:
-------------
paparazzi3/trunk/conf/simulator/Corsica/Corsica2010.xml
Modified: paparazzi3/trunk/Makefile.ac
===================================================================
--- paparazzi3/trunk/Makefile.ac 2010-03-25 07:01:06 UTC (rev 4732)
+++ paparazzi3/trunk/Makefile.ac 2010-03-25 09:27:26 UTC (rev 4733)
@@ -159,6 +159,9 @@
tiny_bl.upload:
lpc21isp -control $(AIRBORNE)/arm7/test/bootloader/bl.hex
$(BOOTLOADER_DEVICE) 38400 12000
+jsbsim jsbsim.compile: ac_h
+ cd $(AIRBORNE); $(MAKE) TARGET=jsbsim ARCHI=jsbsim all
+
sim: ac_h
cd $(AIRBORNE); $(MAKE) TARGET=sim ARCHI=sim all
Added: paparazzi3/trunk/conf/Makefile.jsbsim
===================================================================
--- paparazzi3/trunk/conf/Makefile.jsbsim (rev 0)
+++ paparazzi3/trunk/conf/Makefile.jsbsim 2010-03-25 09:27:26 UTC (rev
4733)
@@ -0,0 +1,100 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# $Id: Makefile.sim 3505 2009-06-17 12:59:32Z hecto $
+# Copyright (C) 2006 Pascal Brisset, Antoine Drouin
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING. If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+#
+
+#
+# This is the Makefile for the JSBSim target.
+# Compilator: g++
+#
+
+SRC_ARCH = sim
+
+CC = g++
+SIMDIR = $(PAPARAZZI_SRC)/sw/simulator
+
+# Launch with "make Q=''" to get full command display
+Q=@
+
+#
+# Compilation flags
+#
+
+CFLAGS = -W -Wall $(INCLUDES) -I$(PAPARAZZI_SRC)/sw/airborne/$(SRC_ARCH)
$($(TARGET).CFLAGS) $(LOCAL_CFLAGS) -O2
+
+LDFLAGS = -lm $($(TARGET).LDFLAGS)
+
+#
+# General rules
+#
+
+$(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
+$(TARGET).objso = $($(TARGET).srcs:%.c=$(OBJDIR)/%.o)
+$(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
+
+all compile: $(OBJDIR)/simsitl
+
+
+$(OBJDIR)/simsitl : $($(TARGET).objs)
+ @echo LD $@
+ $(Q)$(CC) $(CFLAGS) -o $@ $($(TARGET).objs) $(LDFLAGS)
+
+
+%.s: %.c
+ $(CC) $(CFLAGS) -S -o $@ $<
+
+%.s: %.cpp
+ $(CC) $(CFLAGS) -S -o $@ $<
+
+$(OBJDIR)/%.s: %.c
+ @echo CC $@
+ $(Q)test -d $(dir $@) || mkdir -p $(dir $@)
+ $(CC) $(CFLAGS) -S -o $@ $<
+
+$(OBJDIR)/%.s: %.cpp
+ @echo CC $@
+ $(Q)test -d $(dir $@) || mkdir -p $(dir $@)
+ $(CC) $(CFLAGS) -S -o $@ $<
+
+$(OBJDIR)/%.o: %.c $(OBJDIR)/../Makefile.ac
+ @echo CC $@
+ $(Q)test -d $(dir $@) || mkdir -p $(dir $@)
+ $(Q)$(CC) $(CFLAGS) -c -o $@ $<
+
+$(OBJDIR)/%.o: %.cpp $(OBJDIR)/../Makefile.ac
+ @echo CC++ $@
+ $(Q)test -d $(dir $@) || mkdir -p $(dir $@)
+ $(Q)$(CC) $(CFLAGS) -c -o $@ $<
+
+
+#
+# Dependencies
+#
+$(OBJDIR)/.depend:
+ @test -d $(OBJDIR) || mkdir -p $(OBJDIR)
+ @echo DEPEND $@
+ $(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).srcs) | sed
's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
+
+ifneq ($(MAKECMDGOALS),clean)
+ifneq ($(MAKECMDGOALS),erase)
+-include $(OBJDIR)/.depend
+endif
+endif
Modified: paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/spocII.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/spocII.xml 2010-03-25
07:01:06 UTC (rev 4732)
+++ paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/spocII.xml 2010-03-25
09:27:26 UTC (rev 4733)
@@ -193,13 +193,19 @@
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
- <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
+ <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
+ </section>
+
+ <section name="SIMU">
+ <define name="JSBSIM_MODEL" value=""Corsica""/>
+ <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
+ <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
+ </section>
+
<makefile>
CONFIG = \"tiny_2_1_1.h\"
@@ -258,7 +264,17 @@
sim.srcs += nav_line.c nav_survey_rectangle.c
+# Config for JSBSim simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile
+jsbsim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
+jsbsim.LDFLAGS += -L/home/cocoleon/usr/lib/
+
+jsbsim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN
+jsbsim.srcs += nav_line.c nav_survey_rectangle.c
+jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
+
+
# a test program to setup actuators
setup_actuators.ARCHDIR = $(ARCHI)
setup_actuators.ARCH = arm7tdmi
Modified: paparazzi3/trunk/conf/autopilot/sitl_jsbsim.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/sitl_jsbsim.makefile 2010-03-25
07:01:06 UTC (rev 4732)
+++ paparazzi3/trunk/conf/autopilot/sitl_jsbsim.makefile 2010-03-25
09:27:26 UTC (rev 4733)
@@ -1,15 +1,16 @@
-SIM_TYPE = JSBSIM
-sim.ARCHDIR = $(ARCHI)
-sim.ARCH = sitl
-sim.TARGET = autopilot
-sim.TARGETDIR = autopilot
+jsbsim.ARCHDIR = $(ARCHI)
+jsbsim.ARCH = sitl
+jsbsim.TARGET = autopilot
+jsbsim.TARGETDIR = autopilot
# external libraries
-sim.CFLAGS = -I$(SIMDIR) -I/usr/include `pkg-config glib-2.0 --cflags`
-sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy -L/usr/lib
-lJSBSim
+jsbsim.CFLAGS = -I$(SIMDIR) -I/usr/include `pkg-config glib-2.0 --cflags`
+jsbsim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy -L/usr/lib
-lJSBSim
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK
-DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c
$(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_transport.c
$(SRC_ARCH)/ivy_transport.c
-sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c
infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c
main_ap.c datalink.c
-sim.srcs += $(SIMDIR)/sim_ac_jsbsim.c
-#$(SIMDIR)/sim_ac_fw.c
+jsbsim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK
-DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
+jsbsim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c
$(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_transport.c
$(SRC_ARCH)/ivy_transport.c
+jsbsim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c
inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c
main_fbw.c main_ap.c datalink.c
+jsbsim.srcs += $(SIMDIR)/sim_ac_jsbsim.c
+# Choose in your airframe file type of airframe
+# jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
+# jsbsim.srcs += $(SIMDIR)/sim_ac_booz.c
Modified: paparazzi3/trunk/conf/simulator/Corsica/Corsica.xml
===================================================================
--- paparazzi3/trunk/conf/simulator/Corsica/Corsica.xml 2010-03-25 07:01:06 UTC
(rev 4732)
+++ paparazzi3/trunk/conf/simulator/Corsica/Corsica.xml 2010-03-25 09:27:26 UTC
(rev 4733)
@@ -52,9 +52,69 @@
</mass_balance>
+ <ground_reactions>
+ <contact type="BOGEY" name="LEFT_MLG">
+ <location unit="M">
+ <x> 0.07 </x>
+ <y> -0.6 </y>
+ <z> -0.01 </z>
+ </location>
+ <static_friction> 0.8 </static_friction>
+ <dynamic_friction> 0.5 </dynamic_friction>
+ <rolling_friction> 0.02 </rolling_friction>
+ <spring_coeff unit="LBS/FT"> 30 </spring_coeff>
+ <damping_coeff unit="LBS/FT/SEC"> 5 </damping_coeff>
+ <max_steer unit="DEG"> 0.0 </max_steer>
+ <brake_group> LEFT </brake_group>
+ <retractable>0</retractable>
+ </contact>
+ <contact type="BOGEY" name="RIGHT_MLG">
+ <location unit="M">
+ <x> 0.07 </x>
+ <y> 0.6 </y>
+ <z> -0.01 </z>
+ </location>
+ <static_friction> 0.8 </static_friction>
+ <dynamic_friction> 0.5 </dynamic_friction>
+ <rolling_friction> 0.02 </rolling_friction>
+ <spring_coeff unit="LBS/FT"> 30 </spring_coeff>
+ <damping_coeff unit="LBS/FT/SEC"> 5 </damping_coeff>
+ <max_steer unit="DEG"> 0.0 </max_steer>
+ <brake_group> RIGHT </brake_group>
+ <retractable>0</retractable>
+ </contact>
+ <contact type="BOGEY" name="TAIL_LG">
+ <location unit="M">
+ <x> 0.6 </x>
+ <y> 0.0 </y>
+ <z> -0.01 </z>
+ </location>
+ <static_friction> 0.8 </static_friction>
+ <dynamic_friction> 0.5 </dynamic_friction>
+ <rolling_friction> 0.02 </rolling_friction>
+ <spring_coeff unit="LBS/FT"> 6 </spring_coeff>
+ <damping_coeff unit="LBS/FT/SEC"> 5 </damping_coeff>
+ <max_steer unit="DEG"> 360.0 </max_steer>
+ <brake_group> NONE </brake_group>
+ <retractable>0</retractable>
+ </contact>
+ <contact type="BOGEY" name="NOSE_LG">
+ <location unit="M">
+ <x> 0.01 </x>
+ <y> 0.0 </y>
+ <z> -0.01 </z>
+ </location>
+ <static_friction> 0.8 </static_friction>
+ <dynamic_friction> 0.5 </dynamic_friction>
+ <rolling_friction> 0.02 </rolling_friction>
+ <spring_coeff unit="LBS/FT"> 6 </spring_coeff>
+ <damping_coeff unit="LBS/FT/SEC"> 5 </damping_coeff>
+ <max_steer unit="DEG"> 360.0 </max_steer>
+ <brake_group> NONE </brake_group>
+ <retractable>0</retractable>
+ </contact>
+ </ground_reactions>
-<!--Ground reactions deleted -->
-
<propulsion>
<engine file="Axi">
<location unit="M">
@@ -82,6 +142,14 @@
<p_factor>1.0</p_factor>
</thruster>
</engine>
+ <tank type="OXIDIZER"> <!-- Tank number 0 -->
+ <location unit="M">
+ <x> 0.7 </x>
+ <y> 0.0 </y>
+ <z> 0.0 </z>
+ </location>
+ <capacity unit="LBS"> 0.001 </capacity>
+ </tank>
</propulsion>
<flight_control name="Corsica">
Deleted: paparazzi3/trunk/conf/simulator/Corsica/Corsica2010.xml
===================================================================
--- paparazzi3/trunk/conf/simulator/Corsica/Corsica2010.xml 2010-03-25
07:01:06 UTC (rev 4732)
+++ paparazzi3/trunk/conf/simulator/Corsica/Corsica2010.xml 2010-03-25
09:27:26 UTC (rev 4733)
@@ -1,388 +0,0 @@
-<?xml version="1.0"?>
-<?xml-stylesheet href="http://jsbsim.sourceforge.net/JSBSim.xsl";
type="text/xsl"?>
-<fdm_config name="rascal" version="2.0" release="BETA"
- xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance";
- xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd";>
-
- <fileheader>
- <author> Murat Bronz </author>
- <filecreationdate> 18/03/2010 </filecreationdate>
- <version> Version </version>
- <description> Corsica10 Prototype </description>
- </fileheader>
-
- <metrics>
- <wingarea unit="M2"> 0.21 </wingarea>
- <wingspan unit="M"> 1.5 </wingspan>
- <chord unit="M"> 0.14 </chord>
- <htailarea unit="M2"> 0.026 </htailarea>
- <htailarm unit="M"> 0.6 </htailarm>
- <vtailarea unit="M2"> 0.011 </vtailarea>
- <vtailarm unit="M"> 0.6 </vtailarm>
- <location name="AERORP" unit="IN">
- <x> 0 </x>
- <y> 0 </y>
- <z> 0 </z>
- </location>
- <location name="EYEPOINT" unit="IN">
- <x> 0 </x>
- <y> 0 </y>
- <z> 0 </z>
- </location>
- <location name="VRP" unit="IN">
- <x> 0 </x>
- <y> 0 </y>
- <z> 0 </z>
- </location>
- </metrics>
-
- <mass_balance>
- <ixx unit="KG*M2"> 0.125 </ixx>
- <iyy unit="KG*M2"> 0.032 </iyy>
- <izz unit="KG*M2"> 0.156 </izz>
- <ixy unit="KG*M2"> 0 </ixy>
- <ixz unit="KG*M2"> -0.003 </ixz>
- <iyz unit="KG*M2"> 0 </iyz>
- <emptywt unit="KG"> 2.0 </emptywt>
- <location name="CG" unit="M">
- <x> 0.067 </x>
- <y> 0 </y>
- <z> 0 </z>
- </location>
- </mass_balance>
-
-
-
-<!--Ground reactions deleted -->
-
- <propulsion>
- <engine file="Axi">
- <location unit="M">
- <x> -0.02 </x>
- <y> 0 </y>
- <z> 0 </z>
- </location>
- <orient unit="DEG">
- <roll> 0.0 </roll>
- <pitch> 0 </pitch>
- <yaw> 0 </yaw>
- </orient>
- <feed>0</feed>
- <thruster file="18x8">
- <location unit="M">
- <x> -0.02 </x>
- <y> 0 </y>
- <z> 0 </z>
- </location>
- <orient unit="DEG">
- <roll> 0.0 </roll>
- <pitch> 0.0 </pitch>
- <yaw> 0.0 </yaw>
- </orient>
- <p_factor>1.0</p_factor>
- </thruster>
- </engine>
- </propulsion>
-
- <flight_control name="Corsica">
- <channel name="All">
-
- <summer name="Pitch Trim Sum">
- <input>fcs/elevator-cmd-norm</input>
- <input>fcs/pitch-trim-cmd-norm</input>
- <clipto>
- <min>-1</min>
- <max>1</max>
- </clipto>
- </summer>
-
- <aerosurface_scale name="Elevator Control">
- <input>fcs/pitch-trim-sum</input>
- <range>
- <min>-0.5</min>
- <max>0.5</max>
- </range>
- <output>fcs/elevator-pos-rad</output>
- </aerosurface_scale>
-
- <aerosurface_scale name="Elevator Normalized">
- <input>fcs/elevator-pos-rad</input>
- <domain>
- <min>-0.5</min>
- <max> 0.5</max>
- </domain>
- <range>
- <min>-1</min>
- <max> 1</max>
- </range>
- <output>fcs/elevator-pos-norm</output>
- </aerosurface_scale>
-
- <summer name="Roll Trim Sum">
- <input>fcs/aileron-cmd-norm</input>
- <input>fcs/roll-trim-cmd-norm</input>
- <clipto>
- <min>-1</min>
- <max>1</max>
- </clipto>
- </summer>
-
- <aerosurface_scale name="Left Aileron Control">
- <input>fcs/roll-trim-sum</input>
- <range>
- <min>-0.5</min>
- <max>0.5</max>
- </range>
- <output>fcs/left-aileron-pos-rad</output>
- </aerosurface_scale>
-
- <aerosurface_scale name="Right Aileron Control">
- <input>-fcs/roll-trim-sum</input>
- <range>
- <min>-0.5</min>
- <max>0.5</max>
- </range>
- <output>fcs/right-aileron-pos-rad</output>
- </aerosurface_scale>
-
- <aerosurface_scale name="Left aileron Normalized">
- <input>fcs/left-aileron-pos-rad</input>
- <domain>
- <min>-0.5</min>
- <max> 0.5</max>
- </domain>
- <range>
- <min>-1</min>
- <max> 1</max>
- </range>
- <output>fcs/left-aileron-pos-norm</output>
- </aerosurface_scale>
-
- <aerosurface_scale name="Right aileron Normalized">
- <input>fcs/right-aileron-pos-rad</input>
- <domain>
- <min>-0.5</min>
- <max> 0.5</max>
- </domain>
- <range>
- <min>-1</min>
- <max> 1</max>
- </range>
- <output>fcs/right-aileron-pos-norm</output>
- </aerosurface_scale>
-
- </channel>
- </flight_control>
-
-
- <aerodynamics>
-
- <axis name="DRAG">
- <function name="aero/coefficient/CD0">
- <description>Drag_at_zero_lift</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <table>
- <independentVar>aero/alpha-deg</independentVar>
- <tableData>
- -10.0 0.02748
- -8.0 0.02243
- -6.0 0.02335
- -4.0 0.02770
- -2.0 0.03369
- 0.0 0.04284
- 2.0 0.05454
- 4.0 0.06868
- 6.0 0.08515
- 8.0 0.1055
- 10.0 0.1595
- </tableData>
- </table>
- </product>
- </function>
- <!--function name="aero/coefficient/CDbeta">
- <description>Drag_due_to_sideslip</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <table>
- <independentVar>aero/beta-deg</independentVar>
- <tableData>
- -10.0 -0.00284
- 0.0 0.0
- 10.0 -0.00284
- </tableData>
- </table>
- </product>
- </function-->
- <function name="aero/coefficient/CDde">
- <description>Drag_due_to_Elevator_Deflection</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>fcs/elevator-pos-deg</property>
- <value>0.000094</value>
- </product>
- </function>
- </axis>
-
- <axis name="SIDE">
- <function name="aero/coefficient/CYb">
- <description>Side_force_due_to_beta</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>aero/beta-rad</property>
- <value>-0.141391</value>
- </product>
- </function>
- </axis>
-
- <axis name="LIFT">
- <function name="aero/coefficient/CLalpha">
- <description>Lift_due_to_alpha</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>aero/alpha-rad</property>
- <value>5.1460</value>
- </product>
- </function>
- <function name="aero/coefficient/CLde">
- <description>Lift_due_to_Elevator_Deflection</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>fcs/elevator-pos-deg</property>
- <value>0.003644</value>
- </product>
- </function>
- </axis>
-
- <axis name="ROLL">
- <function name="aero/coefficient/Clb">
- <description>Roll_moment_due_to_beta</description>
- <!-- aka dihedral effect -->
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>aero/beta-rad</property>
- <value>-0.04235</value>
- </product>
- </function>
- <function name="aero/coefficient/Clp">
- <description>Roll_moment_due_to_roll_rate</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>aero/bi2vel</property>
- <property>velocities/p-aero-rad_sec</property>
- <value>-0.561207</value>
- </product>
- </function>
- <function name="aero/coefficient/Clr">
- <description>Roll_moment_due_to_yaw_rate</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>aero/bi2vel</property>
- <property>velocities/r-aero-rad_sec</property>
- <value>0.17269</value>
- </product>
- </function>
- <function name="aero/coefficient/Clda">
- <description>Roll_moment_due_to_aileron</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>fcs/right-aileron-pos-deg</property>
- <value>-0.004076</value>
- </product>
- </function>
- </axis>
-
- <axis name="PITCH">
- <function name="aero/coefficient/Cmalpha">
- <description>Pitch_moment_due_to_alpha</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/cbarw-ft</property>
- <property>aero/alpha-rad</property>
- <value>-0.523384</value>
- </product>
- </function>
- <function name="aero/coefficient/Cmde">
- <description>Pitch_moment_due_to_elevator</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/cbarw-ft</property>
- <property>fcs/elevator-pos-deg</property>
- <value>-0.014833</value>
- </product>
- </function>
- <function name="aero/coefficient/Cmq">
- <description>Pitch_moment_due_to_pitch_rate</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/cbarw-ft</property>
- <property>aero/ci2vel</property>
- <property>velocities/q-aero-rad_sec</property>
- <value>-15.281710</value>
- </product>
- </function>
- <function name="aero/coefficient/Cmadot">
- <description>Pitch_moment_due_to_alpha_rate</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/cbarw-ft</property>
- <property>aero/ci2vel</property>
- <property>aero/alphadot-rad_sec</property>
- <value>-7.0000</value>
- </product>
- </function>
- </axis>
-
- <axis name="YAW">
- <function name="aero/coefficient/Cnb">
- <description>Yaw_moment_due_to_beta</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>aero/beta-rad</property>
- <value>0.039729</value>
- </product>
- </function>
- <function name="aero/coefficient/Cnr">
- <description>Yaw_moment_due_to_yaw_rate</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>aero/bi2vel</property>
- <property>velocities/r-aero-rad_sec</property>
- <value>-0.048425</value>
- </product>
- </function>
- <function name="aero/coefficient/Cnda">
- <description>Adverse_yaw</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>fcs/right-aileron-pos-deg</property>
- <value>0.00026</value>
- </product>
- </function>
- </axis>
- </aerodynamics>
-</fdm_config>
Modified: paparazzi3/trunk/sw/simulator/launchsitl
===================================================================
--- paparazzi3/trunk/sw/simulator/launchsitl 2010-03-25 07:01:06 UTC (rev
4732)
+++ paparazzi3/trunk/sw/simulator/launchsitl 2010-03-25 09:27:26 UTC (rev
4733)
@@ -12,14 +12,22 @@
try
let rec loop = fun i ->
if Sys.argv.(i) = "-a" && (i+1) < n then
- let ac = Sys.argv.(i+1) in
- (* Shift other args *)
- for j = i+2 to n-1 do Sys.argv.(j-2) <- Sys.argv.(j) done;
- ac
+ let ac = Sys.argv.(i+1) in
+ (* Shift other args *)
+ for j = i+2 to n-1 do Sys.argv.(j-2) <- Sys.argv.(j) done;
+ ac
else if i = n then raise Not_found
else loop (i+1) in
let ac = loop 0 in
- let com = paparazzi_home // "var" // ac // "sim/simsitl" in
+ (*let rec sim_type = fun i ->
+ if Sys.argv.(i) = "-jsbsim" then
+ "jsbsim"
+ else if i = n then "sim"
+ else loop (i+1) in
+ let sim = sim_type 0 in*)
+ let sim = "jsbsim" in
+ let com = paparazzi_home // "var" // ac // sim // "simsitl" in
+ prerr_endline com;
if not (Sys.file_exists com) then begin
Printf.fprintf stderr "Error: '%s' is missing. Build target sim for A/C
%s ?\n" com ac;
exit 1
Modified: paparazzi3/trunk/sw/simulator/sim_ac_jsbsim.c
===================================================================
--- paparazzi3/trunk/sw/simulator/sim_ac_jsbsim.c 2010-03-25 07:01:06 UTC
(rev 4732)
+++ paparazzi3/trunk/sw/simulator/sim_ac_jsbsim.c 2010-03-25 09:27:26 UTC
(rev 4733)
@@ -112,7 +112,7 @@
static void ivy_transport_init(void) {
- IvyInit ("Paparazzi sim " + AC_ID, "READY", NULL, NULL, NULL, NULL);
+ IvyInit ("Paparazzi jsbsim " + AC_ID, "READY", NULL, NULL, NULL, NULL);
IvyStart(ivyBus.c_str());
}
@@ -147,6 +147,9 @@
else if (argument == "-norc") {
// Compatibility with ocaml
}
+ else if (argument == "-jsbsim") {
+ // Compatibility with ocaml
+ }
else if (argument == "-b") {
ivyBus = string(argv[++i]);
}
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- [paparazzi-commits] [4733] Add target jsbsim to compile both simulator independantly,
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